Variable-frequency pendulum-type damping device, floating foundation, and adjustment method

Abstract

A variable-frequency pendulum-type damping device, a floating foundation, a wind turbine generator, and an adjustment method. The variable-frequency pendulum-type damping device (7) comprises a base (71), a swing arm (73), a pendulum bob assembly (78) and a pumping component. The swing arm (73) is provided with a first end part and a second end part, the first end part is connected to the base (71), and the second end part of the swing arm (73) can swing relative to the base (71). The pendulum bob assembly (78) is connected to the second end part of the swing arm (73) and is provided with a chamber, and at least part of the pendulum bob assembly (78) is located below a liquid level (8). The pumping component is connected to the chamber, and is used for pumping a medium into the chamber or pumping out the medium in the chamber.

Description

Variable frequency single pendulum damping device, floating foundation and adjustment method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the Chinese patent application with application number 202410223190.7 and application date February 28, 2024, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this application as a reference. Technical Field

[0003] The present application belongs to the field of offshore wind power technology, and specifically relates to a variable frequency single pendulum damping device, a floating foundation, and an adjustment method. Background Art

[0004] Wind power boasts significant advantages such as being pollution-free, renewable, low-cost, and widely distributed. Compared to offshore wind energy resources, deep-sea wind energy resources offer greater potential, with reserves reaching approximately 1 billion kilowatts, twice the amount of offshore resources, and possessing enormous development potential. However, when water depths exceed 50 meters, the cost of traditional fixed wind turbine foundations increases. Therefore, floating wind power has become an inevitable choice for cost-effective wind energy development in deepwater areas.

[0005] The sea conditions in deep sea areas are complex, with complex environmental stimuli such as wind, waves, and currents with different characteristics, which can easily cause the tilt angle of floating wind turbines to increase, which will not only increase the structural load of the wind turbines, but also affect the stability and power generation efficiency of the wind turbines. Summary of the Invention

[0006] The present application aims to solve one of the technical problems in the related art at least to a certain extent.

[0007] To this end, an embodiment of the present application proposes a variable-frequency single-pendulum damping device, which adaptively adjusts the frequency of the variable-frequency single-pendulum damping device to achieve wide-band control, thereby being able to cope with complex external environmental conditions.

[0008] An embodiment of the present application provides a floating foundation.

[0009] An embodiment of the present application provides a wind turbine generator set.

[0010] The embodiments of the present application provide a floating foundation adjustment method.

[0011] The variable frequency single pendulum damping device according to an embodiment of the present application includes:

[0012] base;

[0013] a swing arm having a first end and a second end, the first end being connected to the base, and the second end of the swing arm being swingable relative to the base;

[0014] a pendulum assembly connected to the second end of the pendulum arm, the pendulum assembly having a chamber, at least a portion of the pendulum assembly being located below the liquid surface;

[0015] A pumping component is connected to the chamber and is used to pump a medium into the chamber or to pump the medium out of the chamber.

[0016] The variable frequency single pendulum damping device of the embodiment of the present application can adaptively adjust the frequency of the variable frequency single pendulum damping device to achieve wide-band control, thereby being able to cope with complex external environmental conditions.

[0017] In some embodiments, the chamber is a sealed chamber, and an exhaust pipe is connected to the chamber, one end of the exhaust pipe is connected to the chamber, and the other end of the exhaust pipe is connected to the atmosphere.

[0018] In some embodiments, a middle hole is provided in the middle of the swing arm, one end of the middle hole is connected to the atmosphere, and the other end is connected to the chamber to define the exhaust duct; and / or

[0019] An air filter assembly is provided at one end of the exhaust duct away from the chamber; and / or

[0020] A plurality of pulling members are provided between the pendulum assembly and the swing arm. The plurality of pulling members are arranged at intervals along the circumference of the swing arm. One end of the pulling member is connected to the swing arm, and the other end is connected to the pendulum assembly.

[0021] In some embodiments, the pumping component includes a pump body having a first port and a second port, the first port being in communication with the chamber, and the second port being in communication with an external medium; and / or

[0022] The pendulum assembly comprises a box body, the interior of the box body is hollow to form the chamber; and / or

[0023] The pendulum assembly is circular or regular polygonal; and / or

[0024] The first end of the swing arm is connected to the base with a ball joint; and / or

[0025] The swing arm is a rod or a steel strand; and / or

[0026] A plurality of partitions are arranged in the chamber, and the plurality of partitions are used to divide the chamber into a plurality of sub-cavities. A plurality of through holes are provided on the partitions.

[0027] The floating foundation according to an embodiment of the present application includes:

[0028] Basic platform;

[0029] As in the variable frequency single pendulum damping device described in any of the above embodiments, the base of the variable frequency single pendulum damping device is fixedly connected to the basic platform.

[0030] In some embodiments, the base platform includes:

[0031] Multiple buoys, multiple buoys are arranged at intervals;

[0032] A frame is connected between the plurality of buoys, the frame has a first mounting portion, and the base in the variable frequency single pendulum damping device is connected to the first mounting portion.

[0033] In some embodiments, the system further comprises a heave plate, wherein a plurality of the heave plates are disposed between adjacent buoys; and / or

[0034] It also includes a mooring system, which includes a plurality of mooring lines, one end of each mooring line is connected to the frame or the buoy, and the other end of each mooring line is connected to the seabed.

[0035] In some embodiments, the floating foundation further comprises:

[0036] A detection system, the detection system is used to obtain response characteristics of the basic platform;

[0037] A control system is connected to the detection system and the pumping component, and is used to receive and process the response characteristics to control the action of the pumping component.

[0038] According to an embodiment of the present application, a wind turbine generator set includes a floating foundation, a tower and a wind blade assembly as described in any one of the above embodiments, wherein the tower is arranged on the floating foundation, and the wind blade assembly is arranged on the top of the tower.

[0039] According to an embodiment of the present application, a floating foundation adjustment method is used for balancing the floating foundation as described in any of the above embodiments or balancing the wind turbine as described in the above embodiments. The floating foundation adjustment method includes the following steps:

[0040] Detect the inclination signal of the floating foundation;

[0041] Determining whether the tilt angle signal is greater than a preset threshold;

[0042] If yes, obtaining the response characteristics of the floating foundation under external environmental excitation, and performing spectrum analysis on the response characteristics;

[0043] Determine the rocking modal frequencies of floating foundations;

[0044] Calculating the amount of medium that needs to be adjusted in the chamber of the variable frequency pendulum damping device;

[0045] The pumping component is activated to adjust the amount of medium in the chamber. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG1 is a schematic structural diagram of a variable frequency single pendulum damping device according to an embodiment of the present application.

[0047] FIG2 is a schematic structural diagram of a wind turbine generator system according to an embodiment of the present application.

[0048] FIG3 is a schematic structural diagram of a variable frequency single pendulum damping device in a wind turbine generator system according to an embodiment of the present application in a working state.

[0049] FIG4 is a schematic structural diagram of a variable frequency single pendulum damping device in a wind turbine generator system according to another embodiment of the present application in a working state.

[0050] FIG5 is a flow chart of a floating foundation adjustment method according to an embodiment of the present application.

[0051] Figure numerals: 100, wind turbine; 200, floating foundation; 1, wind blade assembly; 2, tower; 3, buoy; 4, mooring system; 5, heave plate; 6, frame; 7, variable frequency single pendulum damping device; 71, base; 72, air filter assembly; 73, swing arm; 74, exhaust duct; 75, pulling member; 76, pump body; 77, water pump pipeline; 78, pendulum assembly; 79, air; 710, water; 8, liquid level. DETAILED DESCRIPTION

[0052] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present application, but should not be understood as limiting the present application.

[0053] As shown in FIG1 , the variable frequency single pendulum damping device 7 according to an embodiment of the present application includes a base 71 , a swing arm 73 , a pendulum assembly 78 and a pumping component.

[0054] The swing arm 73 has a first end and a second end, the first end is connected to the base 71, and the second end of the swing arm 73 can swing relative to the base 71. The pendulum assembly 78 is connected to the second end of the swing arm 73, and the pendulum assembly 78 has a chamber. At least a portion of the pendulum assembly 78 is located below the liquid surface. The pumping component is connected to the chamber, and the pumping component is used to pump the medium into the chamber or to pump out the medium in the chamber.

[0055] It should be understood that the swing arm 73 and the pendulum assembly 78 constitute a pendulum tuned mass damper. When the base 71 of the variable frequency single pendulum damping device 7 is placed on a floating foundation or other structure or equipment that needs to ensure its stability, the pendulum assembly 78 can generate a tuning force on the corresponding structure, thereby controlling the vibration of the structure and improving the stability of the structure.

[0056] The embodiment of the present application sets a chamber in the pendulum assembly 78, which can pump liquid medium into the chamber to adjust the amount of medium in the chamber, and places the variable frequency single pendulum damping device 7 in a liquid environment with buoyancy. At least part of the section of the pendulum assembly 78 is located below the liquid surface. For example, the variable frequency single pendulum damping device 7 is placed in seawater, which can change the influence of buoyancy on the pendulum assembly 78, and then the period of the variable frequency single pendulum damping device 7 can be adjusted. In the face of a complex external environment, the frequency of the variable frequency single pendulum damping device 7 can be adjusted to improve the stability of the equipment equipped with the variable frequency single pendulum damping device 7. The variable frequency single pendulum damping device 7 can perform wide-band adjustment to adapt to a more complex external environment.

[0057] The pumping component in the embodiment of the present application is connected to the chamber and is used to pump a medium into the chamber or to pump a medium out of the chamber. In the case where the variable frequency single pendulum damping device 7 is placed in seawater, the medium can be seawater, and the pumping component is used to pump seawater into the chamber or to pump seawater out of the chamber.

[0058] That is to say, the variable frequency single pendulum damping device 7 of the embodiment of the present application can pump the medium into the chamber or pump out the medium in the chamber through the pumping component, thereby changing the amount of medium in the inner cavity of the pendulum assembly 78. When the damping device is placed in water, the influence of the buoyancy of the water on the pendulum assembly 78 is changed, so that the swing frequency of the friction pendulum assembly can be actively adjusted, wide-band control can be achieved, and complex external environmental conditions can be coped with.

[0059] In some embodiments, the chamber is a sealed chamber, connected to an exhaust pipe 74, one end of which is in communication with the chamber, and the other end of which is in communication with the atmosphere. It should be understood that the sealed chamber prevents seawater from directly entering the chamber through the gaps when the pendulum assembly 78 is placed in seawater. The exhaust pipe allows the chamber to communicate with the atmosphere, ensuring that the chamber remains in communication with the atmosphere even when the pendulum assembly 78 is placed in seawater, and ensuring that the medium in the chamber is not affected by the positive or negative pressure environment within the chamber when it is pumped in or out.

[0060] In some embodiments, a plurality of partitions are arranged in the chamber, and the plurality of partitions are used to divide the chamber into a plurality of sub-cavities. A plurality of through holes are provided on the partitions. Based on the swing of the pendulum assembly 78, the balance of the medium in the chamber of the pendulum assembly 78 can be improved, and the medium in the chamber of the pendulum assembly 78 can be prevented from affecting the swing frequency due to inertia and uneven distribution.

[0061] In some embodiments, a central hole is provided in the middle of the swing arm 73, one end of which is connected to the atmosphere and the other end is connected to the chamber, thereby defining an exhaust duct 74. In other words, the exhaust duct 74 is provided in the swing arm 73, using the central hole of the swing arm 73 as an airflow channel, thereby connecting the chamber to the atmosphere, eliminating the need for external ducting and improving the stability of the structure.

[0062] Furthermore, an air filter assembly 72 is provided at one end of the exhaust pipe 74 away from the chamber. The air filter assembly 72 can filter the gas entering the chamber to prevent foreign matter from entering the chamber and causing sediment in the chamber, and to prevent the exhaust pipe 74 and the water pump pipe 77 of the pumping component from being blocked.

[0063] In some embodiments, a plurality of pull members 75 are disposed between the pendulum assembly 78 and the swing arm 73. The pull members 75 are spaced apart along the circumference of the swing arm 73, with one end of the pull member 75 connected to the swing arm 73 and the other end connected to the pendulum assembly 78. The pull members 75 may be inclined rods or inclined ropes, such as steel strands, chains, or composite ropes. By pulling in multiple directions, the structure between the pendulum assembly 78 and the swing arm 73 is relatively stable, while also increasing the number of stress points.

[0064] In some embodiments, the pumping component includes a pump body 76 having a first port and a second port. The first port is in communication with the chamber, and the second port is in communication with an external medium.

[0065] It should be understood that the pump body 76 is a water pump, and the number of pump bodies 76 can be two, namely a first pump body 76 and a second pump body 76. The first pump body 76 is used to pump the medium into the chamber, and the second pump body 76 is used to pump the medium in the chamber out of the chamber. For example, when the variable frequency single pendulum damping device 7 is placed in seawater, the water inlet of the first pump body 76 and the water outlet of the second pump body 76 are connected to the seawater, and the water outlet of the first pump body 76 and the water inlet of the second pump body 76 are connected to the chamber. When it is necessary to pump the medium into the chamber, the first pump body 76 is started to suck the seawater and pump it into the chamber. When it is necessary to pump the medium out of the chamber, the second pump body 76 is started to discharge the seawater in the chamber to the outside. The water inlet of the second pump body 76 extends to the bottom of the chamber through the water pump pipe 77.

[0066] In some embodiments, the pendulum assembly 78 includes a box body, the interior of the box body is hollow to form a chamber. It should be understood that the pendulum assembly 78 is a box body structure, which can be made of a corrosion-resistant metal structure or a concrete structure, and the chamber is formed inside the box body.

[0067] In some embodiments, the pendulum assembly 78 is spherical, cylindrical, or has a regular polygonal cross-section. That is, the pendulum assembly 78 has a relatively regular shape and the center of gravity is easy to determine, which facilitates installation and arrangement and improves stability.

[0068] In some embodiments, the first end of the swing arm 73 is connected to the base 71 by a ball joint. The swing arm 73 is a rod or a steel strand. It should be understood that the swing arm 73 can be a rod or a steel strand. After the swing arm 73 is connected to the base 71 through a ball joint support, structural fatigue fracture due to frequent swinging between the swing arm 73 and the base 71 can be avoided.

[0069] As shown in Figures 1 to 4, the floating foundation according to an embodiment of the present application includes a base platform and a variable frequency single pendulum damping device 7 as in any of the above embodiments, and the base 71 of the variable frequency single pendulum damping device 7 is fixedly connected to the base platform.

[0070] It should be understood that the variable frequency single pendulum damping device 7 is arranged on the foundation platform to form a floating foundation. When the floating foundation is placed in seawater, part of the variable frequency single pendulum damping device 7 or the entire device is located below the liquid surface.

[0071] Furthermore, after the variable frequency single pendulum damping device 7 is arranged on the base platform, it is as close to the center of gravity of the base platform as possible, for example, the center of gravity of the variable frequency single pendulum damping device 7 and the center of gravity of the base platform are coincident, or the center of gravity of the variable frequency single pendulum damping device 7 and the center of gravity of the base platform are coincident and collinear in the vertical direction.

[0072] In some embodiments, the base platform includes multiple pontoons 3 and a frame 6, the multiple pontoons 3 are arranged at intervals, the frame 6 is connected between the multiple pontoons 3, the frame 6 has a first mounting portion, and the base 71 in the variable frequency single pendulum damping device 7 is connected to the first mounting portion.

[0073] It should be noted that the basic platform is composed of a combination of buoys 3 and a frame 6. Multiple buoys 3 are arranged in a circular or rectangular array. The frame 6 is arranged between the buoys 3 to form a stable integrated structure, which is convenient for arranging wind power equipment or other offshore equipment on the basic platform. The buoys 3 are used to provide buoyancy so that the basic platform can float on the sea.

[0074] A first mounting portion is provided on the frame 6 , which may be a mounting seat. The base 71 in the variable frequency single pendulum damping device 7 is connected to the mounting seat. For example, the base 71 and the mounting seat are fixed by bolts or welding.

[0075] Furthermore, the number of the buoys 3 is 3, 4, 6, 7 or 10.

[0076] In some embodiments, the floating foundation further includes a plurality of heave plates 5 , which are disposed between adjacent buoys 3 . The provision of the plurality of heave plates 5 can effectively suppress movement of the floating foundation and improve stability.

[0077] In some embodiments, a heave plate 5 is provided between adjacent buoys 3 , and the heave plate 5 is located at the bottom of the buoy 3 .

[0078] The floating foundation also includes a mooring system 4, which comprises multiple mooring lines, one end of which is connected to the frame 6 or buoy 3, and the other end of which is connected to the seabed. These multiple mooring lines can be arranged circumferentially around the floating foundation, improving its stability and wind resistance. They can also constrain its position and movement. Combined with a variable-frequency pendulum damping device 7, these mooring lines can reduce the stress-bearing properties of the mooring lines, mitigating the impact loads caused by the oscillation or excessive tilt of the floating foundation, thereby preventing any impact on their strength and fatigue.

[0079] In some embodiments, the mooring line is a steel cable or an iron chain, and the mooring line is connected to the seabed through a gravity anchor, a suction anchor, a grip anchor or a pile anchor.

[0080] In some embodiments, the floating foundation further includes a detection system and a control system. The detection system is used to obtain the response characteristics of the foundation platform. The control system is connected to the detection system and the pumping component. The control system is used to receive and process the response characteristics to control the action of the pumping component.

[0081] It should be understood that the detection system is used to obtain signals such as the inclination angle of the floating foundation, so that when the inclination exceeds a certain threshold, the frequency of the variable-frequency single-pendulum damping device 7 is adjusted by adjusting the intermediate mass of the pendulum assembly 78, thereby adapting to the current external environment, reducing the dynamic response of the floating foundation, and improving the stability of the system.

[0082] The acceleration response at the wind turbine foundation is measured using an accelerometer, and the frequency of the wind turbine's swing mode is identified through spectrum analysis (e.g., short-time Fourier transform, Hilbert-Huang transform, etc.). The frequency of the variable-frequency single-pendulum damping device 7 is adjusted by adjusting the intermediate mass of the pendulum assembly 78 to adapt to the current external environment, reduce the dynamic response of the floating foundation, and improve system stability.

[0083] The control system is used to receive and process the response characteristics, calculate the amount of medium that needs to be adaptively adjusted in the variable-frequency single-pendulum damping device 7 based on the response characteristics, and then pump the medium into the chamber or pump the medium out of the chamber through the pumping component to ensure that the frequency of the variable-frequency single-pendulum damping device 7 is adapted to the current external environment, better control the dynamic response of the floating foundation, and ensure the stability of the floating platform.

[0084] As shown in Figures 1-4, a wind turbine generator system according to an embodiment of the present application includes a floating foundation, a tower 2, and a blade assembly 1, as described in any of the aforementioned embodiments. The tower 2 is mounted on the floating foundation, and the blade assembly 1 is mounted on top of the tower 2. Arranging the tower 2 and blade assembly 1 on the floating foundation to form a wind turbine generator system facilitates the development of offshore wind power in deepwater areas, adapts to the complex sea conditions in deepwater areas, and effectively responds to complex external environmental stimuli with diverse characteristics, such as wind, waves, and currents.

[0085] In some embodiments, the tower 2 is located in the middle of the floating foundation, and the variable frequency single pendulum damping device 7 is located at the bottom of the tower 2 .

[0086] As shown in FIG. 1 and FIG. 2 , further, the variable frequency single pendulum damping device 7 is located directly below the tower 2 .

[0087] In related technologies, installing heavy TMDs in the nacelle and tower top poses challenges to the structural stability of floating wind turbines. The TMDs that can be used in the nacelle are relatively small in size and mass, resulting in very limited effectiveness. The present embodiment utilizes a variable-frequency pendulum damper 7 as a counterweight to improve the stability of the floating foundation. Furthermore, the wide bandwidth of the variable-frequency pendulum damper 7 can be used to adjust the response characteristics of the floating foundation in complex external environments.

[0088] As shown in FIG5 , the floating foundation adjustment method according to an embodiment of the present application is used for balancing the floating foundation in any of the above embodiments or for balancing the wind turbine in the above embodiments. The floating foundation adjustment method includes the following steps:

[0089] S101. Detecting an inclination signal of a floating foundation.

[0090] Due to the complex sea conditions in deep sea areas, there are complex environmental excitations with different characteristics such as wind, waves, and currents, which can easily lead to an increase in the tilt angle of the floating wind turbine. Therefore, the response characteristics of the floating foundation in the current environment are determined by combining the impact of the wind, wave, and current levels on the floating foundation, or by obtaining other response characteristics of the floating foundation. The frequency of the variable-frequency pendulum damping device 7 is adjusted according to the corresponding response characteristics, thereby more effectively adjusting the stability of the floating foundation.

[0091] S102: Determine whether the inclination angle signal is greater than a preset threshold. If the inclination angle is greater than the preset threshold, the floating foundation requires balancing adjustment to ensure the stability of the equipment structure. The inclination angle signal of the floating foundation is detected in real time or periodically, and based on the inclination angle signal, it is determined whether the variable-frequency pendulum damping device 7 needs to be adjusted.

[0092] S103: If yes, obtain the response characteristics of the floating foundation under external environmental excitation, and perform spectrum analysis on the response characteristics.

[0093] S104. Determine the rocking modal frequency of the floating foundation.

[0094] The response characteristics of the floating foundation under external excitation can be to measure the acceleration response at the foundation of the wind turbine through an acceleration sensor, and then identify the frequency of the swing mode of the wind turbine through spectrum analysis (such as short-time Fourier transform, Hilbert-Huang transform, etc.). The frequency of the swing mode of the wind turbine can be determined according to the frequency of the corresponding variable-frequency pendulum damping device 7, so that the variable-frequency pendulum damping device 7 can more effectively reduce the dynamic response.

[0095] By obtaining the response characteristics under external environmental excitation in real time or periodically, the stability of the floating foundation can be continuously monitored and adjusted, so that the floating foundation can optimize its structural stability under the wide-band control of the variable-frequency single-pendulum damping device 7.

[0096] By adjusting the amount of medium in the variable frequency pendulum damping device 7, the corresponding variable frequency pendulum damping device 7 has a preset frequency, so that the floating foundation can use the variable frequency pendulum damping device 7 to reduce the dynamic response and improve stability under this response characteristic.

[0097] S105 , calculating the amount of medium that needs to be adjusted in the chamber of the variable frequency single pendulum damping device 7 .

[0098] The amount of medium in the pendulum assembly 78 at the current state is compared with the amount of medium in the pendulum assembly 78 at the preset adjustment frequency, and the difference in the amount of medium is obtained. In other words, by adjusting the amount of medium in the cavity of the pendulum assembly 78, the frequency of the variable-frequency single-pendulum damping device 7 is adjusted by changing the effect of buoyancy on the pendulum assembly 78.

[0099] S106: The pumping component is started to adjust the amount of the medium in the chamber.

[0100] During the adjustment process, the medium is pumped into the chamber or the medium in the chamber is pumped out by the pumping component. When the difference in the amount of the medium required to be adjusted is reached, the pumping component stops operating.

[0101] The variable frequency pendulum damping device is equivalent to a pendulum placed in seawater. By adjusting the ratio of the buoyancy of the pendulum to its own gravity, its frequency can be adjusted.

[0102] When a pendulum is placed in a liquid environment, the buoyancy it experiences is equal to the mass of the liquid it displaces. The exponent η is defined as the ratio of the mass of the liquid displaced by the pendulum (m1) to the mass of the pendulum (m s ) ratio. A larger exponent η indicates a greater influence of buoyancy on the pendulum. When the exponent η is zero, the pendulum is in a vacuum and experiences zero buoyancy. When the exponent η approaches 1.0, the weight of the pendulum equals the buoyancy, resulting in a suspended state and a period approaching infinity.

[0103] After considering the buoyancy of the pendulum in a liquid environment, its dynamic equilibrium equation can be established as follows:

[0104] Where m s is the mass of the pendulum; l is the length from the axis of rotation to the center of gravity of the pendulum; ω n is the frequency of the pendulum; ζ is the damping ratio of the pendulum; G is the gravity of the pendulum, that is, m s *g;f b is the buoyancy of the pendulum, i.e. m1*g, which is in the opposite direction to the gravity.

[0105] When the swing angle θ of the simple pendulum is small, sinθ can be simplified to θ, and equation (2) can be linearized as follows:

[0106] Solving equation (3), we can get the frequency of the simple pendulum in the liquid environment:

[0107] It can be seen from formula (4) that the frequency of the TMD pendulum in this application is related to the exponent η. Therefore, the natural frequency of the TMD pendulum itself can be adjusted by adjusting the mass of the liquid in the pendulum of the TMD pendulum in this application.

[0108] In practice, it can be applied in a variety of ways, such as by real-time monitoring of the inclination of the floating foundation. If the inclination exceeds the set threshold, the attitude of the floating foundation needs to be adjusted, and then the required adjustment water volume is calculated. The water pump is started to drain or inflate water, and the water volume in the pendulum assembly is adjusted to achieve the frequency adjustment of the variable-frequency single-pendulum damping device. The frequency of the variable-frequency single-pendulum damping device can also be adjusted according to the main frequency of the environmental excitation received by the floating wind turbine, so that the impact of the environmental excitation on the wind turbine is reduced.

[0109] This application proposes installing a variable-frequency pendulum damping device on a floating foundation. This device's main frequency can be adjusted in real time based on the foundation's response characteristics under external excitation, achieving broadband control. This allows for better response to complex offshore environments, mitigating the wind turbine foundation's dynamic response under varying excitation conditions and improving system stability.

[0110] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0111] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0112] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0113] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0114] In this application, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0115] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A variable frequency single pendulum damping device, comprising: base; a swing arm having a first end and a second end, the first end being connected to the base, and the second end of the swing arm being swingable relative to the base; a pendulum assembly connected to the second end of the pendulum arm, the pendulum assembly having a chamber, at least a portion of the pendulum assembly being located below the liquid surface; A pumping component is connected to the chamber and is used to pump a medium into the chamber or to pump the medium out of the chamber.

2. The variable frequency single pendulum damping device according to claim 1, wherein: The chamber is a sealed chamber, and an exhaust pipe is connected to the chamber. One end of the exhaust pipe is connected to the chamber, and the other end of the exhaust pipe is connected to the atmosphere.

3. The variable frequency single pendulum damping device according to claim 2, wherein: A middle hole is provided in the middle of the swing arm, one end of the middle hole is connected to the atmosphere, and the other end is connected to the chamber to define the exhaust duct; and / or An air filter assembly is provided at one end of the exhaust duct away from the chamber; and / or A plurality of pulling members are provided between the pendulum assembly and the swing arm. The plurality of pulling members are arranged at intervals along the circumference of the swing arm. One end of the pulling member is connected to the swing arm, and the other end is connected to the pendulum assembly.

4. The variable frequency single pendulum damping device according to any one of claims 1 to 3, wherein: The pumping component includes a pump body having a first port and a second port, the first port being in communication with the chamber, and the second port being in communication with an external medium; and / or The pendulum assembly comprises a box body, the interior of the box body is hollow to form the chamber; and / or The pendulum assembly is circular or regular polygonal; and / or The first end of the swing arm is connected to the base with a ball joint; and / or The swing arm is a rod or a steel strand; and / or A plurality of partitions are arranged in the chamber, and the plurality of partitions are used to divide the chamber into a plurality of sub-cavities. A plurality of through holes are provided on the partitions.

5. A floating foundation comprising: Basic platform; The variable frequency single pendulum damping device according to any one of claims 1 to 4, wherein the base of the variable frequency single pendulum damping device is fixedly connected to the basic platform.

6. The floating foundation according to claim 5, wherein: The basic platform includes: Multiple buoys, multiple buoys are arranged at intervals; A frame is connected between the plurality of buoys, the frame has a first mounting portion, and the base in the variable frequency single pendulum damping device is connected to the first mounting portion.

7. The floating foundation according to claim 6, further comprising a heave plate, wherein a plurality of the heave plates are provided between adjacent buoys; and / or It also includes a mooring system, which includes a plurality of mooring lines, one end of each mooring line is connected to the frame or the buoy, and the other end of each mooring line is connected to the seabed.

8. The floating foundation according to any one of claims 5 to 7, wherein: The floating foundation further comprises: A detection system, the detection system is used to obtain response characteristics of the basic platform; A control system is connected to the detection system and the pumping component, and is used to receive and process the response characteristics to control the action of the pumping component.

9. A wind turbine generator system comprising a floating foundation, a tower and a wind blade assembly according to any one of claims 5 to 8, wherein the tower is arranged on the floating foundation, and the wind blade assembly is arranged on the top of the tower.

10. A floating foundation adjustment method, used for balancing the floating foundation according to any one of claims 5 to 8 or balancing the wind turbine according to claim 9, the floating foundation adjustment method comprising the following steps: Detect the inclination signal of the floating foundation; Determining whether the tilt angle signal is greater than a preset threshold; If yes, obtaining the response characteristics of the floating foundation under external environmental excitation, and performing spectrum analysis on the response characteristics; Determine the rocking modal frequencies of floating foundations; Calculating the amount of medium that needs to be adjusted in the chamber of the variable frequency pendulum damping device; The pumping component is activated to adjust the amount of medium in the chamber.

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